Pymavrest

Python RESTful API for MAVLink enabled vehicles

Features

Get all messages from vehicle
Get a specific message by it's name or ID
Get a specific message field with field name by message name or ID
Get all parameters from vehicle
Get a specific parameter by it's name
Get all mission items on vehicle
Get a specific mission item on vehicle by it's ID
Get all fence items on vehicle
Get a specific fence item on vehicle by it's ID
Get all rally items on vehicle
Get a specific rally item on vehicle by it's ID
Get statistics of API and vehicle connection
Get and set custom key/value pairs
Send COMMAND_LONG messages to vehicle
Send COMMAND_INT messages to vehicle
Send parameter send command to vehicle
Send mission item list to vehicle
Send fence item list to vehicle
Send rally item list to vehicle
Reconnect to vehicle if not received a message within a timeout
Drop non-periodic messages after a desired timeout
Set message stream rate
Message & parameter whitelist/blacklist support
Fetch parameters and plan, fence and rally items at start
Reset on-board vehicle statistics on start
Initialize custom key-value pair endpoint at start
Request non-default message streams at start

Installation

cd $HOME
git clone https://github.com/mustafa-gokce/pymavrest.git
cd pymavrest/
/usr/bin/python3 -m pip install -r requirements.txt

Usage

Run

/usr/bin/python3 pymavrest.py

Endpoints

Get all messages

curl http://127.0.0.1:2609/get/message/all

Sample data can be found in the get_message_all.json file.

curl https://raw.githubusercontent.com/mustafa-gokce/pymavrest/main/sample/get_message_all.json

Get a specific message by name

curl http://127.0.0.1:2609/get/message/GLOBAL_POSITION_INT

{
  "GLOBAL_POSITION_INT": {
    "alt": 584070,
    "hdg": 35319,
    "lat": -353632622,
    "lon": 1491652375,
    "relative_alt": -17,
    "statistics": {
      "average_frequency": 3.9979008611740223,
      "counter": 33,
      "duration": 8.00420048200067,
      "first": 1660640937.5848908,
      "first_monotonic": 5795.613378925,
      "instant_frequency": 3.982114016316042,
      "last": 1660640945.5890913,
      "last_monotonic": 5803.617579407,
      "latency": 0.25112289500066254
    },
    "time_boot_ms": 4870833,
    "vx": -1,
    "vy": 1,
    "vz": 0
  }
}

Get a specific message by message id

curl http://127.0.0.1:2609/get/message/33

Get a specific message field by message name

curl http://127.0.0.1:2609/get/message/GLOBAL_POSITION_INT/relative_alt

{
  "relative_alt": -17
}

Get a specific message field by message id

curl http://127.0.0.1:2609/get/message/33/alt

{
  "alt": 584070
}

Get all parameters

curl http://127.0.0.1:2609/get/parameter/all

Get a specific parameter by name

curl http://127.0.0.1:2609/get/parameter/STAT_RUNTIME

{
  "STAT_RUNTIME": {
    "statistics": {
      "average_frequency": 0.04563327537308594,
      "counter": 3,
      "duration": 43.82766706199618,
      "first": 1659120473.6298168,
      "first_monotonic": 41638.127151403,
      "instant_frequency": 0.03223455110705248,
      "last": 1659120517.4574845,
      "last_monotonic": 41681.954818465,
      "latency": 31.022612868997385
    },
    "value": 8897.0
  }
}

Get all plan

curl http://127.0.0.1:2609/get/plan/all

Get a specific mission plan item by id

curl http://127.0.0.1:2609/get/plan/1

{
  "autocontinue": 1,
  "command": 22,
  "current": 0,
  "frame": 3,
  "mission_type": 0,
  "param1": 0.0,
  "param2": 0.0,
  "param3": 0.0,
  "param4": 0.0,
  "seq": 1,
  "statistics": {
    "average_frequency": 0,
    "counter": 1,
    "duration": 0,
    "first": 1659097224.3198915,
    "first_monotonic": 20229.831076511,
    "instant_frequency": 0,
    "last": 1659097224.3198915,
    "last_monotonic": 20229.831076511,
    "latency": 0
  },
  "target_component": 0,
  "target_system": 255,
  "x": 0,
  "y": 0,
  "z": 50.0
}

Get all fence

curl http://127.0.0.1:2609/get/fence/all

Get a specific fence item by id

curl http://127.0.0.1:2609/get/fence/1

{
  "count": 6,
  "idx": 1,
  "lat": -35.35980224609375,
  "lng": 149.16319274902344,
  "statistics": {
    "average_frequency": 0,
    "counter": 1,
    "duration": 0,
    "first": 1660055296.6694324,
    "first_monotonic": 28660.054151877,
    "instant_frequency": 0,
    "last": 1660055296.6694324,
    "last_monotonic": 28660.054151877,
    "latency": 0
  },
  "target_component": 0,
  "target_system": 255
}

Get all rally

curl http://127.0.0.1:2609/get/rally/all

Get a specific rally item by id

curl http://127.0.0.1:2609/get/rally/0

{
  "alt": 100,
  "break_alt": 40,
  "count": 2,
  "flags": 0,
  "idx": 0,
  "land_dir": 0,
  "lat": -353608816,
  "lng": 1491632271,
  "statistics": {
    "average_frequency": 0,
    "counter": 1,
    "duration": 0,
    "first": 1660120011.4000502,
    "first_monotonic": 6584.331569675,
    "instant_frequency": 0,
    "last": 1660120011.4000502,
    "last_monotonic": 6584.331569675,
    "latency": 0
  },
  "target_component": 0,
  "target_system": 255
}

Get all custom key value pairs

curl http://127.0.0.1:2609/get/custom/all

Get a specific key value pair based on key

curl http://127.0.0.1:2609/get/custom/pi

{
  "pi": 3.14
}

(after do the post)

Get statistics

curl http://127.0.0.1:2609/get/statistics

{
  "api": {
    "statistics": {
      "average_frequency": 0.3857063030400946,
      "counter": 119,
      "duration": 308.52490369500083,
      "first": 1661338992.8301845,
      "first_monotonic": 16294.305472133,
      "instant_frequency": 0.008128899417259904,
      "last": 1661339301.3550882,
      "last_monotonic": 16602.830375828,
      "latency": 123.01788331600255
    }
  },
  "vehicle": {
    "statistics": {
      "average_frequency": 109.54041660187012,
      "counter": 33759,
      "duration": 308.18761738599824,
      "first": 1661338993.145153,
      "first_monotonic": 16294.62044054,
      "instant_frequency": 3076.544455364997,
      "last": 1661339301.3327703,
      "last_monotonic": 16602.808057926,
      "latency": 0.0003250399968237616
    }
  }
}

Dump all API data

curl http://127.0.0.1:2609/get/all

Post `COMMAND_INT` command message to vehicle

To move to a position in GUIDED mode using COMMAND_INT command message:

curl -i -X POST -H "Content-Type: application/json" -d '{"target_system": 0, "target_component":0, "frame":6, "command":192, "current":0, "autocontinue":0,"param1":1, "param2":0, "param3":0, "param4":0, "x":-353613322, "y":1491611469, "z":10}' http://127.0.0.1:2609/post/command_int

{
  "command": "POST_INT",
  "connected": true,
  "sent": true,
  "valid": true
}

Post `COMMAND_LONG` command message to vehicle

To arm the vehicle using COMMAND_LONG command message:

curl -i -X POST -H "Content-Type: application/json" -d '{"target_system": 0, "target_component":0, "command":400, "confirmation":0, "param1":1, "param2":0, "param3":0, "param4":0, "param5":0, "param6":0, "param7":0}' http://127.0.0.1:2609/post/command_long

{
  "command": "POST_LONG",
  "connected": true,
  "sent": true,
  "valid": true
}

Post `PARAM_SET` command message to vehicle

To set SYSID_THISMAV parameter to 26, using PARAM_SET command message:

curl -i -X POST -H "Content-Type: application/json" -d '{"target_system": 0, "target_component":0, "param_id":"SYSID_THISMAV", "param_value":26, "param_type":9}' http://127.0.0.1:2609/post/param_set

{
  "command": "POST_PARAM",
  "connected": true,
  "sent": true,
  "valid": true
}

Add or update a custom key value pair to API

curl -i -X POST -H "Content-Type: application/json" -d '{"key": "pi", "value": 3.14}' http://127.0.0.1:2609/post/custom

{
  "command": "POST_CUSTOM",
  "sent": true,
  "valid": true
}

Upload flight plan to vehicle

curl -i -X POST -H "Content-Type: application/json" -d '[{"target_system": 0, "target_component": 0, "seq": 1, "frame": 0, "command": 16, "current": 0, "autocontinue": 0, "param1": 0,"param2": 0,"param3": 0,"param4": 0, "x": -353606091, "y": 1491650274, "z": 784.5, "mission_type": 0}]' http://127.0.0.1:2609/post/plan

{
  "command": "POST_PLAN",
  "connected": true,
  "sent": true,
  "valid": true
}

Upload rally point items plan to vehicle

curl -i -X POST -H "Content-Type: application/json" -d '[{"target_system": 0, "target_component": 0, "idx": 0, "count": 1, "lat": -353606091, "lng": 1491650274, "alt": 100, "break_alt":40, "land_dir":0, "flags": 0}]' http://127.0.0.1:2609/post/rally

{
  "command": "POST_RALLY",
  "connected": true,
  "sent": true,
  "valid": true
}

Upload fence point items plan to vehicle

curl -i -X POST -H "Content-Type: application/json" -d '[ { "target_system": 0, "target_component": 0, "idx": 0, "count": 5, "lat": -35.363094, "lng": 149.164749 }, { "target_system": 0, "target_component": 0, "idx": 1, "count": 5, "lat": -35.361046, "lng": 149.165146 }, { "target_system": 0, "target_component": 0, "idx": 2, "count": 5, "lat": -35.365143, "lng": 149.167801 }, { "target_system": 0, "target_component": 0, "idx": 3, "count": 5, "lat": -35.3645481, "lng": 149.161713 }, { "target_system": 0, "target_component": 0, "idx": 4, "count": 5, "lat": -35.361046, "lng": 149.165146 } ]' http://127.0.0.1:2609/post/fence

{
  "command": "POST_FENCE",
  "connected": true,
  "sent": true,
  "valid": true
}

Send a message to vehicle

curl -i -X POST -H "Content-Type: application/json" -d '{"message_name": "MISSION_ITEM_INT", "message_content": [0, 0, 0, 6, 16, 2, 0, 0, 0, 0, 0, -353612986, 1491611332, 50.0]}' http://127.0.0.1:2609/post/message

{
  "command": "POST_MESSAGE",
  "sent": true,
  "valid": true
}

Advanced run and query

/usr/bin/python3 pymavrest.py --host="127.0.0.1" --port=2609 --master="udpin:127.0.0.1:14550" --timeout=5.0 --drop=5.0 --rate=4 --white_message="GLOBAL_POSITION_INT,ATTITUDE,VFR_HUD" --black_message="VFR_HUD" --param=True --plan=True --fence=True --rally=True --reset=True --custom='{"pi": 3.14}' --request='{"245": 5}' --white_parameter="SYSID_THISMAV,SYSID_MYGCS" --black_parameter="SYSID_MYGCS" --statistics=True --home=True

curl http://127.0.0.1:2609/get/message/all

{
  "ATTITUDE": {
    "pitch": -0.0009615588351152837,
    "pitchspeed": -0.00013825629139319062,
    "roll": -0.0007417603628709912,
    "rollspeed": -0.0001102022361010313,
    "statistics": {
      "average_frequency": 3.992590263518338,
      "counter": 6,
      "duration": 1.2523198400012916,
      "first": 1660055296.9819467,
      "first_monotonic": 28660.366665863,
      "instant_frequency": 4.073447899117448,
      "last": 1660055298.2342658,
      "last_monotonic": 28661.618985703,
      "latency": 0.24549227700117626
    },
    "time_boot_ms": 14405031,
    "yaw": -0.13958577811717987,
    "yawspeed": -0.0006176364840939641
  },
  "GLOBAL_POSITION_INT": {
    "alt": 584070,
    "hdg": 35201,
    "lat": -353632620,
    "lon": 1491652373,
    "relative_alt": -17,
    "statistics": {
      "average_frequency": 3.9926913529235,
      "counter": 6,
      "duration": 1.2522881330005475,
      "first": 1660055296.98224,
      "first_monotonic": 28660.366959684,
      "instant_frequency": 4.075237972571812,
      "last": 1660055298.2345283,
      "last_monotonic": 28661.619247817,
      "latency": 0.24538444300196716
    },
    "time_boot_ms": 14405031,
    "vx": 1,
    "vy": -1,
    "vz": 0
  }
}

Arguments

Argument	Type	Default	Help
host	str	"127.0.0.1"	Pymavrest server IP address
port	int	2609	Pymavrest server port number
master	str	"udpin:127.0.0.1:14550"	Standard MAVLink connection string
timeout	float	5.0	Try to reconnect after this seconds when no message is received, zero means do not reconnect
drop	float	5.0	Drop non-periodic messages after this seconds, zero means do not drop
rate	int	4	Message stream that will be requested from vehicle, zero means do not request
white_message	str	""	Comma separated white list to filter messages, empty means all messages are in white list
black_message	str	""	Comma separated black list to filter messages
white_parameter	str	""	Comma separated white list to filter parameters, empty means all parameters are in white list
black_parameter	str	""	Comma separated black list to filter parameters
param	bool	True	Fetch parameters
plan	bool	True	Fetch plan
fence	bool	True	Fetch fence
rally	bool	True	Fetch rally
reset	bool	False	Reset on-board vehicle statistics on start
custom	str	""	User-defined custom key-value pairs
request	str	""	Request non-default message streams with frequency
statistics	bool	True	Enable statistics
home	bool	True	Request home

Name		Name	Last commit message	Last commit date
Latest commit History 94 Commits
samples		samples
tests		tests
.gitignore		.gitignore
LICENSE		LICENSE
README.md		README.md
pymavrelay.py		pymavrelay.py
pymavrest.py		pymavrest.py
requirements.txt		requirements.txt

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mustafa-gokce/pymavrest

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